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When arranging objects with robotic arms, the quality of the end result strongly depends on the achievable placement accuracy. However, even the most advanced robotic systems are prone to positioning errors that can occur at different steps…
Athletic robots demand a whole-body actuation system design that utilizes motors up to the boundaries of their performance. However, creating such robots poses challenges of integrating design principles and reasoning of practical design…
Ensemble Kalman methods were initially developed to solve nonlinear data assimilation problems in oceanography, but are now popular in applications far beyond their original use cases. Of particular interest is climate model calibration. As…
Recent works have shown that deep neural networks can achieve super-human performance in a wide range of image classification tasks in the medical imaging domain. However, these works have primarily focused on classification accuracy,…
Automated bin-picking is a prerequisite for fully automated manufacturing and warehouses. To successfully pick an item from an unstructured bin the robot needs to first detect possible grasps for the objects, decide on the object to remove…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
This article proposes a general optimization framework for solving hand-eye calibration problem. Unlike traditional methods, an iterative algorithm based on Lie algebra that achieves approximately global optimal solutions is developed.…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Assistive robotic devices can be used to help people with upper body disabilities gaining more autonomy in their daily life. Although basic motions such as positioning and orienting an assistive robot gripper in space allow performance of…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
The paper deals with the modeling and identification of the gravity compensators used in heavy industrial robots. The main attention is paid to the geometrical parameters identification and calibration accuracy. To reduce impact of the…
Continuum robots, known for their high flexibility and adaptability, offer immense potential for applications such as medical surgery, confined-space inspections, and wearable devices. However, their non-linear elastic nature and complex…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…
Many mobile robotic platforms rely on an accurate knowledge of the extrinsic calibration parameters, especially systems performing visual stereo matching. Although a number of accurate stereo camera calibration methods have been developed,…
Most of industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. In this paper is proposed an accelerometer-based system to control an industrial robot using two low-cost and…
Underlying the use of statistical approaches for a wide range of applications is the assumption that the probabilities obtained from a statistical model are representative of the "true" probability that event, or outcome, will occur.…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…